Method and System to Determine Physical Parameters as Between A RFID Tag and a Reader

ABSTRACT

A method and system to determine physical parameters as between a RFID tag and a reader. At least some of the illustrative embodiments are methods comprising generating an antenna feed signal, and transmitting a first electromagnetic wave to a radio frequency device (by coupling the antenna feed signal to a reading antenna), receiving a backscattered electromagnetic wave from the radio frequency device to create a received signal, calculating a combined signal based on the antenna feed signal and received signal, and determining relative velocity between the radio frequency device and the reading antenna based on the combined signal.

BACKGROUND

1. Field

The various embodiments are directed to determining physical parameters (e.g. velocity and acceleration) as between objects tagged with radio frequency identification (RFID) tags and reader circuits.

2. Description of the Related Art

Radio frequency identification (RFID) tags are used in a variety of applications, such as tagging vehicles on toll roads, tagging shipping containers, quality control on assembly line conveyer belts, and monitoring tactical military equipment maneuvers. In many situations it would be valuable to know physical parameters of the RFID tags and/or the objects coupled to the tags.

BRIEF DESCRIPTION OF THE DRAWINGS

For a detailed description of various embodiments, reference will now be made to the accompanying drawings in which:

FIG. 1 shows a radio frequency identification (RFID) system in accordance with at least some embodiments;

FIG. 2 shows a system in accordance with at least some embodiments;

FIG. 3 shows calculation of sum signal and envelope signal;

FIG. 4 shows a system in accordance with other embodiments;

FIGS. 5A and 5B show multi-path signals and their envelope; and

FIG. 6 shows a method in accordance with at least some embodiments.

NOTATION AND NOMENCLATURE

Certain terms are used throughout the following description and claims to refer to particular system components. As one skilled in the art will appreciate, design and manufacturing companies may refer to a component by different names. This document does not intend to distinguish between components that differ in name but not function.

In the following discussion and in the claims, the terms “including” and “comprising” are used in an open-ended fashion, and thus should be interpreted to mean “including, but not limited to . . . ” Also, the term “couple” or “couples” is intended to mean either an indirect or direct connection. Thus, if a first device couples to a second device, that connection may be through a direct connection or through an indirect connection via other intermediate devices and connections. Moreover, the term “system” means “one or more components” combined together. Thus, a system can comprise an “entire system,” “subsystems” within the system, a radio frequency identification (RFID) tag, a reader circuit, or any other device comprising one or more components.

DETAILED DESCRIPTION

The various embodiments disclosed herein are discussed in the context of radio frequency identification (RFID) tags; however, the systems and methods discussed have application beyond RFID tags to other types of radio frequency technologies. The discussion of any embodiment in relation to RFID tags is meant only to be illustrative of that embodiment, and not intended to intimate that the scope of the disclosure, including the claims, is limited to that embodiment.

FIG. 1 shows a system 100 in accordance with some embodiments. In particular, system 100 comprises an electronic system 21 (e.g. a computer system) coupled to a radio frequency identification (RFID) reader circuit 19. The reader circuit 19 may be equivalently referred to as an interrogator. By way of antenna 18, the reader circuit 19 communicates with one or more RFID tags 16A-16C proximate to the reader circuit (i.e., within communication range). In particular, the reader circuit 22 transmits an interrogating electromagnetic wave to communicate with one or more of the RFID tags 16A-16C.

Considering a single RFID tag 16A (but the description equally applicable to all the RFID tags 16), the communication sent by the reader circuit 19 is received by tag antenna 17A, and passed to the RFID circuit 15A. If the communication from the reader circuit triggers a response, the RFID circuit 15A sends to the reader circuit 19 the response (e.g., a tag identification value, or data held in the tag memory) using the tag antenna 17A. The reader circuit 19 passes data obtained from the various RFID tags 16 to the electronic system 21, which performs any suitable function. For example, the electronic system 21, based on the data received from the RFID tags 16, may allow access to a building or parking garage, note the entrance of an employee to a work location, direct a parcel identified by the RFID tag 16 down a particular conveyor system, or inventory products in a shopping cart for purposes of checkout and payment. In accordance with some embodiments, the reader circuit 19 and/or the electronic system 21 also determine physical parameters as between the RFID tag 16A using, at least in part, backscattered electromagnetic waves from the RFID tag 16A. Thus, the discussion turns to a description of backscattered electromagnetic waves produced by RFID tags.

There are several types of RFID tags operable in the illustrative system 100 that produce backscattered electromagnetic waves. For example, RFID tags may be semi-active tags, meaning each RFID tag comprises its own internal battery or other power source, but a semi-active tag remains dormant (i.e., powered-off or in a low power state) most of the time. When an antenna of a semi-active tag receives an interrogating electromagnetic wave, the power received is used to wake or activate the semi-active tag, and a response (if any) comprising an identification value is sent by modulating the backscattered electromagnetic wave from the tag antenna, with the semi-active tag using power for internal operations from its internal battery or power source. In particular, the reader circuit 19 and antenna 18 continue to transmit power after the RFID tag is awake. While the reader circuit 19 transmits, the tag antenna 17 of the RFID tag 16 is selectively tuned and de-tuned with respect to the carrier frequency. When tuned, significant incident power is absorbed by the tag antenna 17. When de-tuned, significant power is reflected or backscattered by the tag antenna 17 to the antenna 18 of the reader circuit 19.

A second type of RFID tag that produces backscattered electromagnetic waves is a passive tag, which, unlike semi-active RFID tags, has no internal battery or power source. The tag antenna 17 of the passive RFID tag receives an interrogating electromagnetic wave from the reader circuit, and the power extracted from the received interrogating electromagnetic wave is used to power the tag. Once powered or “awake,” the passive RFID tag may accept a command, send a response comprising a data or identification value, or both; however, like the semi-active tag the passive tag sends the response in the form of a backscattered electromagnetic wave.

In accordance with at least some embodiments, the reader circuit 19 and/or the electronic system 21 determine physical parameters (e.g. velocity) between the RFID tag 16 and the reading antenna 18 using, at least in part, backscattered electromagnetic waves. The backscattered electromagnetic waves received at the reading antenna 18 from the tag antenna 17 can be used coherently in combination with the interrogating wave transmitted from the reading antenna 18 to the tag antenna 17. Thus, the discussion now turns to determining physical parameters in a RFID system using backscattered electromagnetic waves.

In accordance with the various embodiments, the electronic system 21 and/or the reader circuit 19 generates an antenna feed signal at a carrier frequency (e.g. using a local oscillator, or using a digital signal processor by way of a digital to analog converter). The term antenna feed signal is not limited to just high voltage/high current signal directly applied to an antenna, and also refers to the initial signal before voltage/current amplification. The antenna feed signal is applied to the reading antenna 18, which in turn transmits an electromagnetic wave to interrogate the RFID tag 16 (hence, an interrogating electromagnetic wave). The RFID tag 16 (i.e. semi-active tag or passive tag) responds with a backscattered electromagnetic wave, as discussed above. The reading antenna 18 converts incident backscattered electromagnetic wave into a received signal having frequency, phase and amplitude corresponding to the backscattered electromagnetic wave. The received signal is then passed to the reader circuit 19 and/or electronic system 21. The reader circuit 19 and/or electronic system 21 combine the antenna feed signal and received signal, and analyze the combined signal to determine the physical parameters.

FIG. 2 shows a system 200 in accordance with some embodiments. In particular, system 200 shows an object 10 on a conveyor system 12, with the object 10 selectively moving in the direction indicated by arrow 14. Conveyor system 12 is merely illustrative of any situation where an object 10 moves in two- or three-dimensional space. For example, the object 10 and conveyor system 12 are illustrative of wafer boats in semiconductor manufacturing production line, luggage in an automated luggage handling system, parcels in an automated sorting facility, or participants in a war game. The object 10 has an associated RFID tag 16, which as illustrated is visible from both sides of object 10. In system 200, the reading antenna 18 is shown as a Yagi-Uda antenna, but other antenna types (e.g., dipole, loop or patch antennas) may be equivalently used. FIG. 2 further shows three illustrative positions of the RFID tag 16 and/or object 10. In particular, FIG. 2 shows an initial location 31A, and two subsequent locations 31B and 31C. For reasons that will become apparent in reference to FIG. 3, the illustrative physical distance between the initial location 31A and location 31B is half a wavelength of the interrogating electromagnetic wave, and the illustrative physical distance between the initial location 31A and location 31C (i.e., distance 35) is one wavelength of the interrogating electromagnetic wave.

FIG. 3 illustrates various time varying signals associated with sending the interrogating electromagnetic wave and receiving backscattered electromagnetic waves to more fully explain the signals and how the signals are combined to determine various parameters. In particular, FIG. 3 illustrates an antenna feed signal 30 which is applied to the reading antenna 18 during interrogation. The RFID tag 16 (which is assumed for this example to be moving at a constant velocity) reflects a portion of the interrogating electromagnetic wave to create reflected or backscattered electromagnetic wave that is incident upon the reading antenna 18, and therefore creates a received signal 32, illustrated in FIG. 3 as received signal portions 32A-32C (optionally scaled by amplicification). Referring simultaneously to FIGS. 2 and 3, each of the received signal portions 32A, 32B and 32C are based on the backscattered electromagnetic wave received from the RFID tag 16 as the tag moves through positions 31A, 31B and 31C, respectively. At least because of the difference in distance between the RFID tag 16 and the reading antenna 18 for each location 31A, 31B and 30C, each of the received signal portions 32A-32C has an associated phase and amplitude that may be different from the other portions, and may also be different from antenna feed signal 30. FIG. 3 illustrates only three portions of received signal 32 corresponding to three particular positions of the RFID tag 16 so as to not to unduly complicate the drawings; however, in actuality one continuous backscattered electromagnetic wave is received by the reading antenna 18 producing one continuous received signal 32, and the received signal 32 has varying amplitude and phase based on the distance from the RFID tag to the reading antenna and the velocity at which the RFID tag is moving relative to the reading antenna.

In order to determine physical parameters as between the RFID tag and the reading antenna, and in accordance with at least some embodiments, the reader circuit 19 and/or electronic system 21 combine the antenna feed signal 30 and the received signal 32 over a period of time to generate a combined signal 36. Combining the antenna feed signal 30 and the received signal 32 may take many forms. In some embodiments, the antenna feed signal 32 and received signal are summed in analog form to create combined signal 36. In yet still other embodiments, the antenna feed signal 30 and received signal 32 are mixed (i.e., multiplied) in analog form to create the combined signal 36. In yet still other embodiments, the antenna feed signal 30 and received signal 32 may be combined (e.g. summed, mixed) in digital form. Other digital techniques may comprise exclusive-ORing (XOR) portions or all of the digital representation of the antenna feed signal 30 and received signal 32.

Regardless of whether performed using analog or digital versions of the signals, and regardless of the precise form of the combining, in some of the embodiments before the received signal 32 and the antenna feed signal 30 are combined the reader circuit 19 and/or electronic system 21 normalize the amplitude of the signals. Normalization is performed to avoid combining signals that have peak amplitude substantially different form each other. In FIG. 3 the combined signal 36 is logically divided into smaller portions 34A-34C for purposes of discussion. Considering first portion 34A of the combined signal 36, portion 34A is the combination (in the illustrative case of FIG. 3, a sum) of portion 32A of the received signal with corresponding portions of the antenna feed signal 30. Since in this illustrative example the two signals are 180 degrees out of phase with each other, the signals cancel producing zero-value or null portion of the sum signal 36 (a similar result occurs when the signals are combined by mixing). Similarly, third portion 34C of the combined signal 36 is the combination of portion 32C of the received signal with corresponding portions of the antenna feed signal 30. Here again, since in this illustrative example the two signals are 180 degrees out of phase with each, the signals cancel producing a zero-value portion 34C of the combined signal 36. Finally, portion 34B of the combined signal 36 is the combination of portion 32B of the received signal with corresponding portions of the antenna feed signal 30. Since in this illustrative example the signals are in phase with each other, the portion 34B of the sum signal 36 has amplitude that is approximately two times that of the signals considered alone.

The final combined signal 36 has varying amplitude due the phase difference in the antenna feed signal 30 and the received signal 32, and defines an envelope 37. The reader circuit 19 and/or electronic system 21 determine the envelope from the combined signal 36 (e.g. using a demodulator) to produce envelope signal 38. Illustrative envelope signal 38 comprises a plurality of inflection points 39A-39C based on changing physical distance between the RFID tag 16 and the reading antenna 18 (e.g., as shown in FIG. 2). In particular, in the illustrations of FIGS. 2 and 3 the inflection points 39A-39C correlate with the positions 31A-30C of the object 10 on the conveyer system 12. The correlation exists because at some physical distances the phase of the received signal (corresponding to the backscattered electromagnetic wave) and the antenna feed signal (corresponding to the interrogating electromagnetic wave) cancel when combined, and at other physical distances the phases are aligned. In accordance with various embodiments, the reader circuit 19 and/or electronic system 21 find at least some inflection points (e.g., maxima, minima, nulls, or zero-points) in the envelope signal 38. Using at least some of the infection points, the reader circuit 19 and/or electronic system 21 determine physical parameters as between RFID tag and the reading antenna.

Consider, for purposes of explanation, that the reader circuit 19 and/or the electronic system 21 find and use inflection points being nulls in the envelope signal 38 as the mechanism to determine physical parameters as between the RFID tag 16 and reading antenna 18. As discussed above, the illustrative positions 31A and 31C of the RFID tag 16 correspond to nulls 39A and 39C of the envelope signal 38, respectively. Further, the distance between the nulls, distance 35 in FIG. 2, was defined to be one wavelength of the interrogating electromagnetic wave. In some of the embodiments then, the velocity of the RFID tag 16 is calculated according to the following equation:

$\begin{matrix} {V_{tag} = \frac{\Delta \; {NullCounts}*\lambda}{\Delta \; {Seconds}}} & (1) \end{matrix}$

Where V_(tag) is the velocity of the RFID tag, ΔSeconds is a period of time in seconds between the first and last nulls, ΔNullCounts is the number of nulls occurring over ΔSeconds, and λ is the wavelength of the interrogating electromagnetic wave. The remaining portions of this description are based on determining inflection points being nulls in the envelope signal 38; however, using nulls as the inflection points is merely illustrative. Any corresponding inflection points within the envelope signal 38 (e.g., maxima points, minima points) may be used to determine V_(tag), and thus ΔNullCounts in equation (1) may be generalized to be ΔCorrespondingInflectionPoints. To provide best accuracy, if the envelope is sampled such that the sampled dated begins before a first ΔCorrespondingInflectionPoints and/or extends beyond a later occurring final ΔCorrespondingInflectionPoints, the ΔSeconds data may be determined using only the time between the first and final ΔCorrespondingInflectionPoints, ignoring the time before the first JCorrespondingInflectionPoints and the time after the final ΔCorrespondingInflectionPoints.

As a numerical example, consider that the interrogating electromagnetic wave has a frequency of 900 Mega-Hertz (MHz), which corresponds to a wavelength λ of approximately 0.3 meters or approximately 12 inches. If two nulls are found in the envelope signal 38 over a predetermined period of one second, then V_(tag) for RFID tag would be 0.6 meters/second or 24 inches/second.

Determining velocity of the RFID 16 based on counting the number of nulls over a period of time may be extended to determine position. For example, if a starting position is known or estimated (e.g. using a mechanical trigger, optical trigger and/or a pre-defined initial value), a new position can be determined using the nulls. In some of the embodiments, a new position of the RFID tag 16 is calculated according to the following equation:

NewPosition=StartPosition±(ΔNullCounts*λ*ΔSeconds)  (2)

where NewPosition is the calculated new position, StartPosition is the known or estimated starting position, λ and ΔSeconds are as discussed with respect to equation (1), and whether to add or subtract the parenthetical term is based on whether the RFID tag 16 and underlying object are move toward or away from the reading antenna and where the tag velocity is constant within an acceptable tolerance. With respect to determining whether the RFID tag is moving toward or away from the reading antenna 18, the reader circuit 19 and/or electronic system 21 may observe the return signal strength indication (RSSI) of the received signal 32 (before normalization), and add or subtract the parenthetical term of equation (2) based on RSSI. For example, an increasing RSSI is indicative of the RFID tag moving toward the reading antenna (or vice versa), thus indicating subtraction of the parenthetical term. Conversely, a decreasing RSSI is indicative of the RFID tag moving away from the reading antenna (or vice versa), thus indicating addition of the parenthetical term.

Using the illustrative numerical example above of a 900 MHz interrogating electromagnetic wave, two null counts in one second, an assumed starting position of 12 inches from the reading antenna and an assumed direction of the RFID tag moving away from the reading antenna, the new position of the RFID tag is calculated to be 12″+(2*12″)=36″ from the reading antenna. For best accuracy, if time data for the purpose of determining V_(tag) uses only the time between first and final ΔCorrespondingInflectionPoints, thereby ignoring time before the first ΔCorrespondingInflectionPoint and after the final ΔCorrespondingInflectionPoint, then the ignored time may be added on to determine that total ΔSeconds for position.

The various embodiments, however, are not limited to determining just velocity and/or location, as other parameters that are based on velocity may also be determined. For example, acceleration is the first time derivative of V_(tag), and jerk (equivalently referred to as jolt) is the second time derivative of V_(tag).

Returning to FIG. 2, in accordance with other embodiments the system 200 has a second reader circuit 23 and reading antenna 20 placed, for example, on the opposite side as the first reader circuit 19 and reading antenna 18. In such embodiments, any physical parameter (e.g., velocity, position, acceleration and jerk) may be verified by signals from reading antenna 20. In other embodiments, the second reader circuit 23 and reading antenna 20 are placed such that they are at an angle with each other, (e.g. a right angle). In the yet still other embodiments, a third reader is placed orthogonal to the plane established by the reader 19 and reader 23.

FIG. 4 illustrates other embodiments where a single reader circuit 19 couples to multiple reading antennas. In particular, FIG. 4 shows two reading antennas 104A and 104B (which antennas could be, for example, antennas 18 and 20 respectively of FIG. 3). The reading antennas 104A and 104B in FIG. 4 couple to a single reader circuit 19 by way of multiplexer 106, and the reader circuit 19 also couples to an electronic system 21.

Many atmospheric conditions and/or man-made objects affect electromagnetic wave propagation, and thus lead to signal degradation. Multi-path degradation is a type of signal degradation where multiple backscattered electromagnetic waves arrive at the reading antenna by way of different paths. FIG. 5A illustrates such degradation. In particular, reading antenna 18 coupled to the reader circuit 19 receives backscattered electromagnetic waves from the RFID tag 16 associated with an object 10. The backscattered electromagnetic waves in FIG. 5A propagate using multiple paths to reach the reading antenna 18. In the illustration, some of the backscattered electromagnetic waves propagate along a line-of-sight path 50, and some of the backscattered electromagnetic waves are reflected due atmospheric conditions and/or man-made objects 52 and propagate along a different path 54 before reaching the reading antenna. Convergence of the multi-path backscattered waves at the reading antenna 18 has unfavorable consequences.

FIG. 5B illustrates two different envelope signals 56 and 58 calculated by the reader circuit 19 and/or electronic system 21. The envelope signal 56 is similar to envelope signal 38 (FIG. 2), and is a substantially smooth signal with three inflection points 51A-51C. The envelope signal 58 is not a substantially smooth signal, and has inflection points 51A-51C, along with extraneous inflection points 53A-53D. The signal 56 is associated with backscattered electromagnetic waves which do not propagate along multiple paths, whereas the signal 58 is associated with backscattered electromagnetic waves propagating along multiple paths 50 and 54 (as shown in FIG. 5A). In some embodiments, the multi-path degradation of the received backscattered electromagnetic waves is reduced by ignoring extraneous inflection points 53A-53D. In particular, the inflection points in envelope signals are classified into categories (e.g. inflection points associated with line-of-sight waveforms and inflection points associated with multi-path waveforms). The inflection points associated with multi-path waveforms are ignored and inflection points associated with line-of-sight waveforms are used in calculating the physical parameters.

In some of the embodiments, the RFID tag 16 responds to the interrogating electromagnetic wave with a tag identification value, or data held in the tag memory. In these embodiments, determining physical parameters as between the RFID tag and the reading antenna are based on periods of time when the RFID tag is reflective. However, in some situations the periods of time when the RFID tag is reflective as part of communicating data may be insufficient to determine the physical parameters (i.e., the data rate is too high and the reflective period is therefore too short). Thus, in other embodiments RFID tag 16 may be placed in a reflective mode such that, for extended periods of time relative to selectively backscattering to send data, the RFID tag is in a purely reflective mode. The reader circuit 19 and/or electronic system 21 in these embodiments are configure to send a command instructing the RFID tag 16 to change its operation to a constant or alternating repetitive state; hence, the electromagnetic waves received at the reading antenna 18 are only backscattered electromagnetic wave without any associated data. The RFID tag 16 is configured to time out of the reflective state, or the command sent to place the tag in the reflective state, may comprise a period of time for the RFID tag to stay reflective, and then revert to prior operational modes. Thus, by setting the RFID tag 16 to a reflective state determining of physical parameters as between the RFID tag 16 and reading antenna 18 can occur for a longer periods of time, or occur more rapidly.

FIG. 6 shows a method in accordance with at least some embodiments. In particular, the method starts (block 600) and moves to generating an antenna feed signal (block 604). Next, an interrogating electromagnetic wave is sent to a radio frequency device (block 608), where the interrogating electromagnetic wave is based on the antenna feed signal. In some embodiments, the radio frequency device is a RFID tag. Thereafter, a backscattered electromagnetic wave is received from the radio frequency device to create a received signal (block 612). Next, a combined signal is calculated based on the antenna feed signal and received signal (block 616). Finally, a determination is made as to the relative velocity between the radio frequency device and the reading antenna based on the combined signal (block 620), and the method ends (block 624).

The above discussion is meant to be illustrative of the principles and various embodiments of the present invention. Numerous variations and modifications will become apparent to those skilled in the art once the above disclosure is fully appreciated. For example, the combining of the antenna feed signal and received signal may be performed with those signal in analog form, or the combining may be performed with digital representations of the signals. Moreover, the various embodiments are discussed with respect to the RFID tag moving and the reader circuit stationary; however, in other embodiments the physical parameters are determined with respect to a stationary RFID tag and reader circuit moving (e.g. in a warehouse in order to inventory objects on shelves). Finally, while in the various embodiments discussed the interrogating electromagnetic wave is transmitted from the same antenna as receives the backscattered electromagnetic wave, in alternative embodiments separate antennas may be used with one to transmit the interrogating electromagnetic wave, and a the second to receive the backscattered electromagnetic wave. It is intended that the following claims be interpreted to embrace all such variations and modifications. 

1. A method comprising: generating an antenna feed signal; a first electromagnetic wave to a radio frequency device, the transmitting by coupling the antenna feed signal to a reading antenna; receiving a backscattered electromagnetic wave from the radio frequency device to create a received signal; calculating a combined signal based on the antenna feed signal and received signal; and determining relative velocity between the radio frequency device and the reading antenna based, at least in part, on the combined signal.
 2. The method as defined in claim 1 wherein transmitting further comprises transmitting to a radio frequency identification (RFID) tag.
 3. The method as defined in claim 1 wherein calculating further comprises calculating the combined signal by at least one selected from the group consisting of: summing the antenna feed signal and the received signal; mixing the antenna feed signal with the received signal; performing an exclusive-OR using at least portions of the antenna feed signal and the received signal.
 4. The method as defined in claim 1 wherein determining further comprises determining inflection points of the sum signal.
 5. The method as defined in claim 4 wherein determining the inflection points further comprises finding within the combined signal at least one selected from the group consisting of: a null; minima; and maxima.
 6. The method as defined in claim 1 wherein determining the relative velocity further comprises determining a number of inflection points in the combined signal over a predetermined period.
 7. The method as defined in claim 1 wherein the determining the relative velocity further comprises at least one selected from the group consisting of: determining the velocity of the RFID tag relative to a moving reading antenna; and determining the velocity of the reading antenna relative to a moving RFID tag.
 8. A system comprising: a radio frequency identification (RFID) tag; a reading antenna in operational relationship to the RFID tag; and a reader circuit coupled to the reading antenna, the reader circuit configured to transmit a first electromagnetic wave to the RFID tag, the first electromagnetic wave based on an antenna feed signal; wherein the reader circuit is configured to receive a received signal, the received signal based on a backscattered electromagnetic wave received from the RFID tag; and wherein the system is configured to determine relative velocity between the RFID tag and the reading antenna based on a combined signal of the antenna feed signal and the received signal.
 9. The system as defined in claim 8 wherein the system is configured to determine relative velocity based on inflection points of the combined signal.
 10. The system as defined in claim 9 wherein the system further is configured to determine inflection points within the sum signal being at least one selected from group consisting of: nulls; maxima; and minima.
 11. The system as defined in claim 8 wherein the system is configured to create the combined signal by at least one selected from the group consisting of: a sum of the antenna feed signal and the received signal; a multiplication of the antenna feed signal with the received signal; performance of an exclusive-OR using at least portions of the antenna feed signal and the received signal.
 12. The system as defined in claim 8 wherein the system is further configured to determine at least one selected from the group consisting of: relative position; acceleration; and jerk.
 13. The system as defined in claim 8 wherein the RFID tag further comprises at least one selected from the group consisting of: a passive tag; and semi-active tag.
 14. A radio frequency identification (RFID) reader comprising: a reading antenna configured to receive backscattered electromagnetic waves from a RFID tag to create received signals; a reader circuit coupled to the reading antenna, the reader circuit configured to transmit an interrogating electromagnetic wave to the RFID tag, the interrogating electromagnetic wave based on an antenna feed signal; wherein the reader circuit configured to determine relative velocity between the RFID tag and the reading antenna based on a combined signal being the combination of the antenna feed signal and the received signal.
 15. The radio frequency identification reader as defined in claim 14 wherein the reader circuit is configured to determine inflection points of the combined signal.
 16. The radio frequency identification reader as defined in claim 15 wherein the reader circuit is configured to determine inflection points within the sum signal being at least one selected from the group consisting of: nulls; maxima; and minima.
 17. The radio frequency identification reader as defined in claim 14 wherein the reader circuit is configured to determine the relative velocity based on a number of inflection points in the sum signal over a predetermined period.
 18. The radio frequency identification reader as defined in claim 14 wherein the reader circuit is configured to determine at least one selected from the group consisting of: relative position; acceleration; and jerk.
 19. A computer-readable medium storing a program that, when executed by a processor, causes the processor to: cause an antenna feed signal to be applied to a reading antenna to create an interrogating electromagnetic wave; receive a received signal based on a backscattered electromagnetic wave received from the RFID tag; calculate a combination signal being the combination of the antenna feed signal and the received signal; determine relative velocity between the RFID tag and the reading antenna based, at least in part, on the combination signal.
 20. The computer-readable medium as defined in claim 19 wherein when the processor determines, the program causes the processor to determine inflection points of the combination signal.
 21. The computer-readable medium as defined in claim 20 wherein when the processor determines the inflection points, the program causes the processor to find within the sum signal at least one selected from the group consisting of: nulls; minima; and maxima.
 22. The computer-readable medium as defined in claim 19 wherein when the processor determines the relative velocity, the program causes the processor to determine a number of inflection points in the sum signal over a predetermined period of time.
 23. The computer-readable medium as defined in claim 19 wherein when the processor determines the relative velocity, the program causes the processor to determine at least one selected from the group consisting of: the velocity of the RFID tag relative to a moving reading antenna; and the velocity of the reading antenna relative to a moving RFID tag.
 24. The computer-readable medium as defined in claim 19 wherein when the processor determines, the program causes the processor to determine at least one selected from the group consisting of: relative position; acceleration; and jerk. 